From 251d2bbbb751bb3e3f881b4093acb8e89e6f680f Mon Sep 17 00:00:00 2001
From: "Pasch, Frederik" <frederik.pasch@intel.com>
Date: Wed, 2 Sep 2020 15:54:46 +0200
Subject: [PATCH] Remove switch to different default rss parameter, add new
 members

---
 PythonAPI/examples/rss/manual_control_rss.py |  7 ----
 PythonAPI/examples/rss/rss_sensor.py         | 38 ++++++++------------
 2 files changed, 14 insertions(+), 31 deletions(-)

diff --git a/PythonAPI/examples/rss/manual_control_rss.py b/PythonAPI/examples/rss/manual_control_rss.py
index 74008b6e3..a5ad1147c 100755
--- a/PythonAPI/examples/rss/manual_control_rss.py
+++ b/PythonAPI/examples/rss/manual_control_rss.py
@@ -102,7 +102,6 @@ try:
     from pygame.locals import K_q
     from pygame.locals import K_r
     from pygame.locals import K_s
-    from pygame.locals import K_t
     from pygame.locals import K_w
     from pygame.locals import K_l
     from pygame.locals import K_i
@@ -420,12 +419,6 @@ class VehicleControl(object):
                 elif event.key == K_g:
                     if self._world and self._world.rss_sensor:
                         self._world.rss_sensor.drop_route()
-                elif event.key == K_t:
-                    if self._world and self._world.rss_sensor:
-                        if self._world.rss_sensor.assertive_parameters:
-                            self._world.rss_sensor.set_default_parameters()
-                        else:
-                            self._world.rss_sensor.set_assertive_parameters()
                 if isinstance(self._control, carla.VehicleControl):
                     if event.key == K_q:
                         self._control.gear = 1 if self._control.reverse else -1
diff --git a/PythonAPI/examples/rss/rss_sensor.py b/PythonAPI/examples/rss/rss_sensor.py
index 187795f3a..de8897785 100644
--- a/PythonAPI/examples/rss/rss_sensor.py
+++ b/PythonAPI/examples/rss/rss_sensor.py
@@ -298,29 +298,6 @@ class RssSensor(object):
     def toggle_debug_visualization_mode(self):
         self.debug_visualizer.toggleMode()
 
-    @staticmethod
-    def get_assertive_parameters():
-        ego_dynamics = rss.RssDynamics()
-        ego_dynamics.alphaLon.accelMax = 4.1
-        ego_dynamics.alphaLon.brakeMax = -8.03
-        ego_dynamics.alphaLon.brakeMin = -4.64
-        ego_dynamics.alphaLon.brakeMinCorrect = -1.76
-        ego_dynamics.alphaLat.accelMax = 0.43
-        ego_dynamics.alphaLat.brakeMin = -0.96
-        ego_dynamics.lateralFluctuationMargin = 0.07
-        ego_dynamics.responseTime = 0.25  # paper: 0.53
-        ego_dynamics.maxSpeedOnAcceleration = 100
-        ego_dynamics.unstructuredSettings.pedestrianTurningRadius = 2.0
-        ego_dynamics.unstructuredSettings.driveAwayMaxAngle = 2.4
-        ego_dynamics.unstructuredSettings.vehicleYawRateChange = 0.3
-        ego_dynamics.unstructuredSettings.vehicleMinRadius = 3.5
-        ego_dynamics.unstructuredSettings.vehicleTrajectoryCalculationStep = 0.2
-        return ego_dynamics
-
-    def set_assertive_parameters(self):
-        print("Use 'assertive' RSS Parameters")
-        self.current_vehicle_parameters = self.get_assertive_parameters()
-
     @staticmethod
     def get_default_parameters():
         ego_dynamics = rss.RssDynamics()
@@ -331,13 +308,18 @@ class RssSensor(object):
         ego_dynamics.alphaLat.accelMax = 0.2
         ego_dynamics.alphaLat.brakeMin = -0.8
         ego_dynamics.lateralFluctuationMargin = 0.1
-        ego_dynamics.responseTime = 1.0
+        ego_dynamics.responseTime = 0.5
         ego_dynamics.maxSpeedOnAcceleration = 100
         ego_dynamics.unstructuredSettings.pedestrianTurningRadius = 2.0
         ego_dynamics.unstructuredSettings.driveAwayMaxAngle = 2.4
         ego_dynamics.unstructuredSettings.vehicleYawRateChange = 0.3
         ego_dynamics.unstructuredSettings.vehicleMinRadius = 3.5
         ego_dynamics.unstructuredSettings.vehicleTrajectoryCalculationStep = 0.2
+        ego_dynamics.unstructuredSettings.vehicleFrontIntermediateRatioSteps = 4
+        ego_dynamics.unstructuredSettings.vehicleBackIntermediateRatioSteps = 0
+        ego_dynamics.unstructuredSettings.vehicleContinueForwardIntermediateAccelerationSteps = 0
+        ego_dynamics.unstructuredSettings.vehicleBrakeIntermediateAccelerationSteps = 0
+        ego_dynamics.unstructuredSettings.vehicleResponseTimeIntermediateAccelerationSteps = 4
         return ego_dynamics
 
     def set_default_parameters(self):
@@ -358,9 +340,17 @@ class RssSensor(object):
         pedestrian_dynamics.maxSpeedOnAcceleration = 10
         pedestrian_dynamics.unstructuredSettings.pedestrianTurningRadius = 2.0
         pedestrian_dynamics.unstructuredSettings.driveAwayMaxAngle = 2.4
+
+        #not used:
         pedestrian_dynamics.unstructuredSettings.vehicleYawRateChange = 0.3
         pedestrian_dynamics.unstructuredSettings.vehicleMinRadius = 3.5
         pedestrian_dynamics.unstructuredSettings.vehicleTrajectoryCalculationStep = 0.2
+        pedestrian_dynamics.unstructuredSettings.vehicleTrajectoryCalculationStep = 0.2
+        pedestrian_dynamics.unstructuredSettings.vehicleFrontIntermediateRatioSteps = 4
+        pedestrian_dynamics.unstructuredSettings.vehicleBackIntermediateRatioSteps = 0
+        pedestrian_dynamics.unstructuredSettings.vehicleContinueForwardIntermediateAccelerationSteps = 0
+        pedestrian_dynamics.unstructuredSettings.vehicleBrakeIntermediateAccelerationSteps = 0
+        pedestrian_dynamics.unstructuredSettings.vehicleResponseTimeIntermediateAccelerationSteps = 4
         return pedestrian_dynamics
 
     def get_steering_ranges(self):